Planning

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Period ending 2026-09-21

63 new papers

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  1. An Information-Space Perspective to Scene Graph Sufficiency for Robotic Task Planning

    Sep 14, 2026Başak Sakçak, Francesco VerdojaHierarchical 3D Scene GraphsPlanning Methods

  2. Robust and Efficient Communication for Multi-Agent Learning

    Sep 14, 2026Rafael Pina, Varuna De Silva, Corentin ArtaudMulti-Agent Reinforcement LearningMulti-Robot Systems

  3. Distributed Safe Cooperative Vector Field for Trajectory Curvature Constrained Multi-Robot Systems

    Sep 14, 2026Zhouru Xiao, Tao Teng, Weijia Yao +3Multi-Robot SystemsCollision Avoidance

  4. Convergence rates for generative drifting flows: fixed-scale obstructions and multihead acceleration

    Sep 14, 2026Arthur Stéphanovitch, Eddie AamariGenerative ModelsGenerative Artificial Intelligence

  5. Legislating World-Model-Based Planning with Legal Reasoning

    Sep 14, 2026Dylan Waldner, Yiannis Kantaros, Guido Governatori +2Executable Robot BehaviorSocial Norms

  6. From Learned-Mode AV-Traffic Pairing to Planner Decisions: A Marginal-Preserving Study on Argoverse 2

    Sep 14, 2026Jingyu WangAutonomous DrivingPlanning Methods

  7. Communication-Constrained Multi-Robot Exploration With Adaptive Communication Windows

    Sep 14, 2026Ben Rossano, Jaein Lim, Jonathan P. HowMulti-Robot SystemsEfficient Exploration

  8. DWMP: Leveraging Dual World Models for Humanoid Obstacle Traversal

    Sep 14, 2026Rongjun Jin, Jianming Ma, Yue GaoEfficient World-Action ModelObstacle Avoidance

  9. Physics-Aware Video Generation via Agentic Planning and Graph-Guided Optimization

    Sep 14, 2026Minh-Loi Nguyen, Xuan-Vu Le, Thanh-Toan Do +3Long Video GenerationPhysics Simulation

  10. ArtManip: Category-Level Articulated In-Hand Manipulation

    Sep 14, 2026Yang Yang, Tengyu Liu, Puhao Li +6Robotic Manipulation PoliciesGrasp Generation

  11. Tuning ROS 2 for Energy-Efficient Navigation: Empirical Insights from Costmap 2D Configurations

    Sep 14, 2026Michel Albonico, Andreas Wortmann, Ivano MalavoltaSocial Robot NavigationRobot Operating System

  12. A Hierarchical Coverage Path Planning Algorithm for Unknown Environments

    Sep 14, 2026Zongyuan Shen, Haodong Liu, Gao Wang +4Coverage Path PlanningUnknown Environments

  13. Exact Feasibility Certification and Optimal Responsibility Allocation for Multi-Robot CBF Safety Filters

    Sep 14, 2026Chandan Kumar Sah, Jishnu KeshavanControl Barrier FunctionsSafety Filters

  14. 2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation

    Sep 12, 2026Yutong Hu, Fengjiao Chen, Xuezhi Cao +1Multimodal AgentsAgent Memory

  15. MAPLE: Memory-Augmented Planning with Language and Evolution

    Sep 12, 2026Kesheng Chen, Yamin Hu, Wenjian LuoAgentic OptimizationPlanning Methods

  16. Distributed Stochastic Optimal Control for Pattern-Oriented Swarms

    Sep 11, 2026Qingrui Zhang, Chenghao Yu, Feng Xue +1Unmanned Aerial Vehicle SwarmsSwarms

  17. Safety-aware Skill Adaptation for Reinforcement Learning in Dynamic Environments

    Sep 11, 2026A K M Nadimul Haque, Sheila Sutjipto, Marc G. Carmichael +1Obstacle AvoidanceEnvironment

  18. SwarmNxt: Open-source Software-Hardware Platform for Fast and Agile Aerial Swarms

    Sep 11, 2026Charbel Toumieh, Niel Mistry, Benjamin Jarvis +4Unmanned Aerial Vehicle SwarmsDrone

  19. Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers

    Sep 11, 2026Thomas Cohn, Seiji Shaw, Harel Biggie +3Inverse KinematicsKinematics

  20. Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation

    Sep 11, 2026Chenbo Xia, Chao YeHumanoid Loco-ManipulationMotion Retargeting

  21. Memory as Plans: World-Action Modeling with Memory-Grounded Planning

    Sep 11, 2026Sizhe Zhao, Haozhe Xie, Weiyu Zhao +5Efficient World-Action ModelClassical Planning

  22. CityPlanner: A Sandbox Agent for Executable Urban Planning

    Sep 10, 2026Wentao Zhang, Jingyuan Wang, Zetong Zhou +2Classical PlanningUrban Environments

  23. Modality-Decoupled Federated Learning for Privacy-Preserving Embodied Intelligence in 6G

    Sep 10, 2026Zhuodong Liu, Xiangyu Li, Chunhong Yuan +5Federated LearningMulti-Robot Systems

  24. ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations

    Sep 10, 2026Jiawen Wang, Kevin Yao, Khalid JawedObstacle AvoidanceDiffusion Policies

  25. DUET-DINO: Simultaneous Cross-View World Modeling for Latent Planning in Robot Manipulation

    Sep 9, 2026Nisarga Nilavadi, Ralf Römer, Moritz Reuss +5Generalizable Robotic ManipulationsLatent World Models

  26. Future-Aware Flow Planning for Safe UAV Target Following

    Sep 9, 2026Boning Feng, Haoran Zhang, Xiaowen Bi +2Unmanned Aerial Vehicle TrajectoriesCollision Avoidance

  27. Belief-State Engine: Augmenting LLMs for Principled Planning Under Partial Observability

    Sep 9, 2026Arnab Chattopadhayay, Debdipta HalderPartially Observable Markov Decision ProcessLatent States

  28. What Symmetry Buys a Learned Motion Planner

    Sep 9, 2026Andrea Emir SevincelMotion PlannersExact Equivariance

  29. Grounded Evaluation and Repair for NL-to-PDDL Problem Generation

    Sep 9, 2026Joana Rosa, Pedro Santos, Valdemar Oliveira +3Large Language Model PlanningLarge Language Model Generation

  30. PccDiffuser: Multi-solution Motion Planning for Continuum Robots

    Sep 9, 2026Ke Qiu, Sifan Chen, Si Wang +3Motion PlannersSoft Robots

  31. Online, Reachability-Aware, Sampling-Based Motion Planning

    Sep 8, 2026Brendan Gould, Zhiyuan Zhang, Panagiotis Tsiotras +1Model Predictive ControlMotion Planners

  32. PlannerForge: LLM Agents for Scenario-Based Testing of Motion Planners in Autonomous Driving

    Sep 8, 2026Yuan Gao, Sebastian Müller, Mattia Piccinini +5Large Language Model PlanningAutonomous Driving

  33. Learning to build covering structures with continuous adjustments

    Sep 8, 2026Gabriel Vallat, Maryam Kamgarpour, Stefana ParaschoScalable Robot LearningPlanning Methods

  34. CLAMP: Constrained Decoding for Vision-Language Embodied Planning

    Sep 8, 2026Tianyi Ma, Parisa KordjamshidiClassical PlanningFrozen Vision-Language Models

  35. Reachability-Certified Subteam Decomposition for Locally Interacting Multi-Agent MDPs

    Sep 8, 2026Xiangwu Wang, Chengwei Cao, Hongyuan TangMulti-Robot SystemsReachability

  36. Seeing is Not Believing: Breaking the Physical-to-Digital Trust Boundary in Robotics

    Sep 8, 2026Leming Shen, Shikai Geng, Yuanqing Zheng +1Robot Operating SystemMulti-Robot Systems

  37. mjorbit: A Simulation Framework for Space Robotics

    Sep 7, 2026John Z. Zhang, Joris Verhagen, Fausto Vega +2SpacecraftRobotics

  38. Conditional Timed Partial Orders: An Expressive and Interpretable Framework for Robot Task Specification and Planning

    Sep 7, 2026Sebastian Escobar, Morteza LahijanianPartially Observable Markov Decision ProcessPlanning Methods

  39. Decentralized Safe Multi-Agent Reinforcement Learning via Predictive Shielding

    Sep 7, 2026Yacine El Yamani, Hanna Krasowski, Elena VanneauxMulti-Agent Reinforcement LearningMulti-Robot Systems

  40. D3ARC: Time-Critical Distributed Disaster Detection for Asynchronous Cooperative Multi-Robot Systems

    Sep 7, 2026Nikolaos Koursioumpas, Lina Magoula, Nancy Alonistioti +1Wildfire DetectionMulti-Robot Systems

  41. EquiGQNet: Fast Grasp Quality Evaluation via Shared Equivariant Point Cloud Encoding

    Sep 7, 2026Sungwon Seo, Jaeseog Won, Jiyou Shin +5Grasp GenerationCategory-Level Object Pose Estimation

  42. NutriBench-Kitchen: Benchmarking Embodied AI for Nutrition Management

    Sep 7, 2026Yulin Wei, Xiangchen Wang, Jianhui Pan +5Nutrient ReasoningAgentic Benchmarks

  43. Planning and Scheduling Business Processes under Control-Flow Uncertainty: Extended Version

    Sep 4, 2026Michel Kunkler, Stefanie Rinderle-MaSchedulingPlanning Methods

  44. Formation Matrix and Energy-based Control of Multi-Agent Systems

    Sep 3, 2026Martín Crespo, Sergio Junco, Matías NacusseRobust Formation ControlMulti-Robot Systems

  45. The Dually Flat Geometry of Planning as Inference

    Sep 3, 2026Nikola Milosevic, Asaki Kataoka, Nicolas Hinrichs +2Entropy Regularized Reinforcement LearningPlanning Methods

  46. Towards Numerical TOHTN Planning with SMT-based HTN-SAT Encoding

    Sep 3, 2026Gaspard Quenard, Takudzwa Togarepi, Damien Pellier +1SatisfiabilityClassical Planning

  47. Lose the Order, Keep the Hierarchy: Deordering HTN Plans

    Sep 3, 2026Takudzwa Togarepi, Gaspard Quenard, Damien Pellier +1Planning MethodsHierarchical

  48. Local Path Planning and Obstacle Avoidance for an Omnicopter Platform

    Sep 3, 2026Mikolaj Helinski, Spilios Theodoulis, Mahmoud Hamandi +3Uncrewed Aerial VehiclesCoverage Path Planning

  49. Toward Physically Grounded JEPA World Models for Goal-Conditioned Robotic Planning

    Sep 3, 2026Muyuan Liu, Yue Huang, Zheng Liang +1Inverse DynamicsRobot Planning

  50. Plan Pointers and Record-Directive Form in Budgeted Verification of Inherited Agent Memory

    Sep 3, 2026Kazuki NakayashikiAgent MemoryMemorization

  51. CHIME: Credit-Aware Hierarchical Memory Evolution for Long-Horizon Agentic Planning

    Sep 2, 2026Yongshi Ye, Tian Lan, Feihu Jiang +7Long-Horizon AgentsAgent Memory

  52. Designing Versatile Samples for Learned Trajectory Scoring

    Sep 1, 2026Yaguang Li, Jiaru Zhang, Chuheng Wei +2Naturalistic Driving DataDiffusion Planning

  53. TriSAR: Task Coordination and Collision Avoidance for Aerial Robot Teams in Disaster Response

    Sep 1, 2026Aditya Anil Kapile, Pedro Machado, Isibor Kennedy IhianleMulti-Uav SystemsCollision Avoidance

  54. SG-AMP: Scene-Graph-Guided Active Perception and Semantics-Aware Motion Planning for Pepper Plants

    Sep 1, 2026Rohit Menon, Shiva Rudra Lolla, Niklas Mueller-Goldingen +3Viewpoint-Dependent Active PerceptionDepth Estimation

  55. Scalable Rao-Blackwellized Online Planning for High-Dimensional POMDPs

    Sep 1, 2026Jiho Lee, Nisar Ahmed, Kyle Hollins Wray +1Robot PlanningPartially Observable Markov Decision Process

  56. Dual Process Motion Planning

    Sep 1, 2026Jiayi Yan, Francesco Fabiano, Alessandro AbateMotion PlannersScalable Robot Learning

  57. Adaptive Depth-Map-Guided Bundle Adjustment for Correspondence-Free Multi-View Point Cloud Registration

    Sep 1, 2026Yiran Zhou, Yingyu Wang, Shoudong Huang +1Point Cloud RegistrationDepth Estimation

  58. CERF: Communication-Efficient and Retraining-Free Collaborative Perception

    Sep 1, 2026Jiuwu Hao, Ziyi Ni, Liguo Sun +5Collaborative PerceptionMulti-Sensor Fusion

  59. Connectivity-Aware Graph Extension for Decentralized Multi-Robot Exploration

    Sep 1, 2026Béatrice Garcia Cegarra, Elena Vanneaux, Quentin Picard +1Multi-Uav SystemsMulti-Robot Systems

  60. TRIPPULSE: Multi-Agent Travel Planning with Review-Grounded Reasoning

    Aug 31, 2026Priyanshu Karmakar, Borru Vijay Sai, Shubhojit Mallick +3TourClassical Planning